PR IntelRealSense#13302 from OhadMeir: Support FL calibration over ETH

src/auto-calibrated-proxy.cpp

@@ -53,14 +53,16 @@ void auto_calibrated_proxy::write_calibration() const
 {
     if (_auto_calib_capability)
         _auto_calib_capability->write_calibration();
-    throw std::runtime_error("Auto Calibration capability has not been initiated");
+    else
+        throw std::runtime_error("Auto Calibration capability has not been initiated");
 }
 
 void auto_calibrated_proxy::set_calibration_table(const std::vector<uint8_t>& calibration)
 {
     if (_auto_calib_capability)
         _auto_calib_capability->set_calibration_table(calibration);
-    throw std::runtime_error("Auto Calibration capability has not been initiated");
+    else
+        throw std::runtime_error("Auto Calibration capability has not been initiated");
 }
 
 void auto_calibrated_proxy::reset_to_factory_calibration() const
@@ -105,7 +107,8 @@ void auto_calibrated_proxy::set_calibration_config(const std::string& calibratio
 {
     if (_auto_calib_capability)
         _auto_calib_capability->set_calibration_config(calibration_config_json_str);
-    throw std::runtime_error("Auto Calibration capability has not been initiated");
+    else
+        throw std::runtime_error("Auto Calibration capability has not been initiated");
 }
 
 } //namespace librealsense

src/dds/rs-dds-depth-sensor-proxy.cpp

@@ -6,6 +6,7 @@
 
 #include <realdds/topics/dds-topic-names.h>
 
+#include <src/stream.h>
 #include <src/librealsense-exception.h>
 #include <rsutils/json.h>
 
@@ -23,6 +24,39 @@ float dds_depth_sensor_proxy::get_depth_scale() const
     return 0.001f;
 }
 
+float dds_depth_sensor_proxy::get_stereo_baseline_mm() const
+{
+    if( auto opt = get_option_handler( RS2_OPTION_STEREO_BASELINE ) )
+        return opt->get_value();
+
+    // Baseline not registered, try getting it from extrinsics
+    std::shared_ptr< stream_profile_interface > ir1;
+    std::shared_ptr< stream_profile_interface > ir2;
+    for( auto & prof : get_raw_stream_profiles() )
+    {
+        if( prof->get_stream_type() == RS2_STREAM_INFRARED )
+        {
+            if( prof->get_stream_index() == 1 )
+                ir1 = prof;
+            else if( prof->get_stream_index() == 2 )
+                ir2 = prof;
+        }
+    }
+
+    if( ir1 && ir2 )
+    {
+        rs2_extrinsics out;
+        if( environment::get_instance().get_extrinsics_graph().try_fetch_extrinsics( *ir1, *ir2, &out ) )
+        {
+            float baseline = std::sqrt( out.translation[0] * out.translation[0] +
+                                        out.translation[1] * out.translation[1] +
+                                        out.translation[2] * out.translation[2] );
+            return baseline;
+        }
+    }
+
+    throw not_implemented_exception( "Not a stereo depth sensor. Cannot get basline information." );
+}
 
 void dds_depth_sensor_proxy::add_no_metadata( frame * const f, streaming_impl & streaming )
 {

src/dds/rs-dds-depth-sensor-proxy.h

@@ -8,10 +8,10 @@
 
 namespace librealsense {
 
-// For cases when checking if this is< depth_sensor > (like realsense-viewer::subdevice_model)
+// For cases when checking if this is< depth_sensor > or is< depth_stereo_sensor > (like realsense-viewer::subdevice_model and on-chip-calib)
 class dds_depth_sensor_proxy
     : public dds_sensor_proxy
-    , public depth_sensor
+    , public depth_stereo_sensor
 {
     using super = dds_sensor_proxy;
 
@@ -25,6 +25,7 @@ class dds_depth_sensor_proxy
 
     // Needed by abstract interfaces
     float get_depth_scale() const override;
+    float get_stereo_baseline_mm() const override;
 
 protected:
     void add_no_metadata( frame *, streaming_impl & ) override;

src/ds/d500/d500-auto-calibration.cpp

@@ -259,12 +259,7 @@ namespace librealsense
         float fy[2] = { -1.0f, -1.0f };
 
         float left_rect_sides[4] = { 0.f };
-        ds_calib_common::get_target_rect_info( left,
-                                               left_rect_sides,
-                                               fx[0],
-                                               fy[0],
-                                               50,
-                                               progress_callback );  // Report 50% progress
+        ds_calib_common::get_target_rect_info( left, left_rect_sides, fx[0], fy[0], 50, progress_callback );  // Report 50% progress
 
         float right_rect_sides[4] = { 0.f };
         ds_calib_common::get_target_rect_info( right, right_rect_sides, fx[1], fy[1], 75, progress_callback );

src/ds/ds-calib-common.cpp

@@ -100,7 +100,7 @@ namespace librealsense
                 rect_sides_arr.emplace_back( rec_sides_cur );
             }
 
-            rs2_release_frame( f );
+            ff = {}; // Release the frame, don't need it for progress callback
 
             if( progress_callback )
                 progress_callback->on_update_progress( static_cast< float >( ++progress ) );