From 40a90a83bd836e7c654f122c3a80a7572f12fbdd Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Wed, 13 Nov 2024 15:06:02 +0200
Subject: [PATCH] support empty flash enumeration

---
 src/ds/d500/d500-device.cpp  | 14 ++++++++++++--
 src/ds/d500/d500-private.cpp | 32 +++++++++++++++++++++++---------
 2 files changed, 35 insertions(+), 11 deletions(-)

diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp
index d456ab0123..85379bdb41 100644
--- a/src/ds/d500/d500-device.cpp
+++ b/src/ds/d500/d500-device.cpp
@@ -286,8 +286,18 @@ namespace librealsense
     float d500_device::get_stereo_baseline_mm() const // to be d500 adapted
     {
         using namespace ds;
-        auto table = check_calib<d500_coefficients_table>(*_coefficients_table_raw);
-        return fabs(table->baseline);
+        float baseline = 100.0f; // so we will have a non zero value if cannot read from table
+        try
+        {
+            auto table = check_calib<d500_coefficients_table>(*_coefficients_table_raw);
+            baseline = fabs(table->baseline);
+        }
+        catch( const std::exception &e )
+        {
+            LOG_ERROR("Failed reading stereo baseline, using a default value --> " << e.what() );
+        }
+
+        return baseline;
     }
 
     std::vector<uint8_t> d500_device::get_d500_raw_calibration_table(ds::d500_calibration_table_id table_id) const // to be d500 adapted
diff --git a/src/ds/d500/d500-private.cpp b/src/ds/d500/d500-private.cpp
index fb597f8d0e..dadaf447e4 100644
--- a/src/ds/d500/d500-private.cpp
+++ b/src/ds/d500/d500-private.cpp
@@ -43,18 +43,32 @@ namespace librealsense
         rs2_intrinsics get_d500_intrinsic_by_resolution(const vector<uint8_t>& raw_data, d500_calibration_table_id table_id, 
             uint32_t width, uint32_t height, bool is_symmetrization_enabled)
         {
-            switch (table_id)
-            {
-            case d500_calibration_table_id::depth_calibration_id:
+            
+            if (!raw_data.empty()) 
             {
-                return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled);
+                switch (table_id)
+                {
+                case d500_calibration_table_id::depth_calibration_id:
+                {
+                    return get_d500_depth_intrinsic_by_resolution(raw_data, width, height, is_symmetrization_enabled);
+                }
+                case d500_calibration_table_id::rgb_calibration_id:
+                {
+                    return get_d500_color_intrinsic_by_resolution(raw_data, width, height);
+                }
+                default:
+                    throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast<int>(table_id) << " is not supported");
+                }
             }
-            case d500_calibration_table_id::rgb_calibration_id:
+            else // In case we got an empty table we will run with default values
             {
-                return get_d500_color_intrinsic_by_resolution(raw_data, width, height);
-            }
-            default:
-                throw invalid_value_exception(rsutils::string::from() << "Parsing Calibration table type " << static_cast<int>(table_id) << " is not supported");
+                LOG_ERROR("cannot read intrinsic values, setting defaults");
+                rs2_intrinsics intrinsics = {0};
+                intrinsics.height = height;
+                intrinsics.width = width;
+                intrinsics.ppx = intrinsics.fx = width / 2.f;
+                intrinsics.ppy = intrinsics.fy = height / 2.f;
+                return intrinsics;
             }
         }