PR #13549 from Noy-Zini: Deprecate RS2_OPTION_SENSOR_MODE

common/model-views.cpp

@@ -40,18 +40,6 @@
 
 #include "opengl3.h"
 
- rs2_sensor_mode rs2::resolution_from_width_height(int width, int height)
-{
-    if ((width == 240 && height == 320) || (width == 320 && height == 240))
-        return RS2_SENSOR_MODE_QVGA;
-    else if ((width == 640 && height == 480) || (height == 640 && width == 480))
-        return RS2_SENSOR_MODE_VGA;
-    else if ((width == 1024 && height == 768) || (height == 1024 && width == 768))
-        return RS2_SENSOR_MODE_XGA;
-    else
-        return RS2_SENSOR_MODE_COUNT;
-}
-
 ImVec4 flip(const ImVec4& c)
 {
     return{ c.y, c.x, c.z, c.w };

common/model-views.h

@@ -48,8 +48,6 @@ namespace rs2
 
     static const float FEET_TO_METER = 0.3048f;
 
-    rs2_sensor_mode resolution_from_width_height(int width, int height);
-
     template<class T>
     void sort_together(std::vector<T>& vec, std::vector<std::string>& names)
     {

common/subdevice-model.cpp

@@ -10,49 +10,6 @@
 
 namespace rs2
 {
-    static void width_height_from_resolution(rs2_sensor_mode mode, int& width, int& height)
-    {
-        switch (mode)
-        {
-        case RS2_SENSOR_MODE_VGA:
-            width = 640;
-            height = 480;
-            break;
-        case RS2_SENSOR_MODE_XGA:
-            width = 1024;
-            height = 768;
-            break;
-        case RS2_SENSOR_MODE_QVGA:
-            width = 320;
-            height = 240;
-            break;
-        default:
-            width = height = 0;
-            break;
-        }
-    }
-
-    static int get_resolution_id_from_sensor_mode(rs2_sensor_mode sensor_mode,
-        const std::vector< std::pair< int, int > >& res_values)
-    {
-        int width = 0, height = 0;
-        width_height_from_resolution(sensor_mode, width, height);
-        auto iter = std::find_if(res_values.begin(),
-            res_values.end(),
-            [width, height](std::pair< int, int > res) {
-                if (((res.first == width) && (res.second == height))
-                    || ((res.first == height) && (res.second == width)))
-                    return true;
-                return false;
-            });
-        if (iter != res_values.end())
-        {
-            return static_cast<int>(std::distance(res_values.begin(), iter));
-        }
-
-        throw std::runtime_error("cannot convert sensor mode to resolution ID");
-    }
-
     std::vector<const char*> get_string_pointers(const std::vector<std::string>& vec)
     {
         std::vector<const char*> res;
@@ -436,33 +393,6 @@ namespace rs2
                 ui.selected_res_id = selection_index;
             }
 
-            if (new_device_connected)
-            {
-                // Have the various preset options automatically update based on the resolution of the
-                // (closed) stream...
-                // TODO we have no res_values when loading color rosbag, and color sensor isn't
-                // even supposed to support SENSOR_MODE... see RS5-7726
-                if (s->supports(RS2_OPTION_SENSOR_MODE) && !res_values.empty())
-                {
-                    // Watch out for read-only options in the playback sensor!
-                    try
-                    {
-                        auto requested_sensor_mode = static_cast<float>(resolution_from_width_height(
-                            res_values[ui.selected_res_id].first,
-                            res_values[ui.selected_res_id].second));
-
-                        auto currest_sensor_mode = s->get_option(RS2_OPTION_SENSOR_MODE);
-
-                        if (requested_sensor_mode != currest_sensor_mode)
-                            s->set_option(RS2_OPTION_SENSOR_MODE, requested_sensor_mode);
-                    }
-                    catch (not_implemented_error const&)
-                    {
-                        // Just ignore for now: need to figure out a way to write to playback sensors...
-                    }
-                }
-            }
-
             if (ui.is_multiple_resolutions)
             {
                 for (auto it = ui.selected_res_id_map.begin(); it != ui.selected_res_id_map.end(); ++it)
@@ -568,46 +498,8 @@ namespace rs2
                     res = true;
                     _options_invalidated = true;
 
-                    // Set sensor mode only at the Viewer app,
-                    // DQT app will handle the sensor mode when the streaming is off (while reseting the stream)
-                    if (s->supports(RS2_OPTION_SENSOR_MODE) && !allow_change_resolution_while_streaming)
-                    {
-                        auto width = res_values[tmp_selected_res_id].first;
-                        auto height = res_values[tmp_selected_res_id].second;
-                        auto res = resolution_from_width_height(width, height);
-                        if (res >= RS2_SENSOR_MODE_VGA && res < RS2_SENSOR_MODE_COUNT)
-                        {
-                            try
-                            {
-                                s->set_option(RS2_OPTION_SENSOR_MODE, float(res));
-                            }
-                            catch (const error& e)
-                            {
-                                error_message = error_to_string(e);
-                            }
+                    ui.selected_res_id = tmp_selected_res_id;
 
-                            // Only update the cached value once set_option is done! That way, if it doesn't change anything...
-                            try
-                            {
-                                int sensor_mode_val = static_cast<int>(s->get_option(RS2_OPTION_SENSOR_MODE));
-                                {
-                                    ui.selected_res_id = get_resolution_id_from_sensor_mode(
-                                        static_cast<rs2_sensor_mode>(sensor_mode_val),
-                                        res_values);
-                                }
-                            }
-                            catch (...) {}
-                        }
-                        else
-                        {
-                            error_message = rsutils::string::from() << "Resolution " << width << "x" << height
-                                << " is not supported on this device";
-                        }
-                    }
-                    else
-                    {
-                        ui.selected_res_id = tmp_selected_res_id;
-                    }
                 }
                 ImGui::PopStyleColor();
                 ImGui::PopItemWidth();
@@ -807,47 +699,9 @@ namespace rs2
                     {
                         res = true;
                         _options_invalidated = true;
+
+                        ui.selected_res_id_map[stream_type_id] = tmp_selected_res_id;
 
-                        // Set sensor mode only at the Viewer app,
-                        // DQT app will handle the sensor mode when the streaming is off (while reseting the stream)
-                        if (s->supports(RS2_OPTION_SENSOR_MODE) && !allow_change_resolution_while_streaming)
-                        {
-                            auto width = res_values[tmp_selected_res_id].first;
-                            auto height = res_values[tmp_selected_res_id].second;
-                            auto res = resolution_from_width_height(width, height);
-                            if (res >= RS2_SENSOR_MODE_VGA && res < RS2_SENSOR_MODE_COUNT)
-                            {
-                                try
-                                {
-                                    s->set_option(RS2_OPTION_SENSOR_MODE, float(res));
-                                }
-                                catch (const error& e)
-                                {
-                                    error_message = error_to_string(e);
-                                }
-
-                                // Only update the cached value once set_option is done! That way, if it doesn't change anything...
-                                try
-                                {
-                                    int sensor_mode_val = static_cast<int>(s->get_option(RS2_OPTION_SENSOR_MODE));
-                                    {
-                                        ui.selected_res_id = get_resolution_id_from_sensor_mode(
-                                            static_cast<rs2_sensor_mode>(sensor_mode_val),
-                                            res_values);
-                                    }
-                                }
-                                catch (...) {}
-                            }
-                            else
-                            {
-                                error_message = rsutils::string::from() << "Resolution " << width << "x" << height
-                                    << " is not supported on this device";
-                            }
-                        }
-                        else
-                        {
-                            ui.selected_res_id_map[stream_type_id] = tmp_selected_res_id;
-                        }
                     }
                     ImGui::PopStyleColor();
                     ImGui::PopItemWidth();

common/viewer.cpp

@@ -788,7 +788,6 @@ namespace rs2
         _hidden_options.emplace(RS2_OPTION_STREAM_FORMAT_FILTER);
         _hidden_options.emplace(RS2_OPTION_STREAM_INDEX_FILTER);
         _hidden_options.emplace(RS2_OPTION_FRAMES_QUEUE_SIZE);
-        _hidden_options.emplace(RS2_OPTION_SENSOR_MODE);
         _hidden_options.emplace(RS2_OPTION_NOISE_ESTIMATION);
         _hidden_options.emplace(RS2_OPTION_REGION_OF_INTEREST);
     }

include/librealsense2/h/rs_option.h

@@ -96,7 +96,7 @@ extern "C" {
         RS2_OPTION_INVALIDATION_BYPASS, /**< Enable\disable pixel invalidation */
         RS2_OPTION_AMBIENT_LIGHT, /**< DEPRECATED! - Use RS2_OPTION_DIGITAL_GAIN instead. */
         RS2_OPTION_DIGITAL_GAIN = RS2_OPTION_AMBIENT_LIGHT, /**< Change the depth digital gain see rs2_digital_gain for values */
-        RS2_OPTION_SENSOR_MODE, /**< The resolution mode: see rs2_sensor_mode for values */
+        RS2_OPTION_SENSOR_MODE, /**< DEPRECATED! - The resolution mode: see rs2_sensor_mode for values */
         RS2_OPTION_EMITTER_ALWAYS_ON, /**< Enable Laser On constantly (GS SKU Only) */
         RS2_OPTION_THERMAL_COMPENSATION, /**< Depth Thermal Compensation for selected D400 SKUs */
         RS2_OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH, /**< DEPRECATED as of 2.46! */
@@ -237,7 +237,7 @@ extern "C" {
     } rs2_l500_visual_preset;
     const char* rs2_l500_visual_preset_to_string(rs2_l500_visual_preset preset);
 
-    /** \brief For setting the camera_mode option */
+    /** \brief DEPRECATED! - For setting the camera_mode option */
     typedef enum rs2_sensor_mode
     {
         RS2_SENSOR_MODE_VGA,

tools/depth-quality/depth-quality-model.cpp

@@ -580,17 +580,6 @@ namespace rs2
                                 {
                                     try // Retries are needed to cope with HW stability issues
                                     {
-
-                                        auto dev = cfg.resolve(_pipe);
-                                        auto depth_sensor = dev.get_device().first< rs2::depth_sensor >();
-                                        if (depth_sensor.supports(RS2_OPTION_SENSOR_MODE))
-                                        {
-                                            auto depth_profile = dev.get_stream(RS2_STREAM_DEPTH);
-                                            auto w = depth_profile.as<video_stream_profile>().width();
-                                            auto h = depth_profile.as<video_stream_profile>().height();
-                                            depth_sensor.set_option(RS2_OPTION_SENSOR_MODE, (float)(resolution_from_width_height(w, h)));
-                                        }
-
                                         auto profile = _pipe.start(cfg);
                                         success = profile;
                                     }

unit-tests/live/live-common.h

@@ -207,34 +207,6 @@ inline stream_profile find_confidence_corresponding_to_depth(rs2::depth_sensor d
     return *confidence_profile;
 }
 
-inline stream_profile
-find_profile( rs2::depth_sensor depth_sens, rs2_stream stream, rs2_sensor_mode mode )
-{
-    std::vector< stream_profile > stream_profiles;
-    REQUIRE_NOTHROW( stream_profiles = depth_sens.get_stream_profiles() );
-
-    std::map< rs2_sensor_mode, std::pair< uint32_t, uint32_t > > sensor_mode_to_resolution
-        = { { { RS2_SENSOR_MODE_VGA }, { 640, 480 } },
-            { { RS2_SENSOR_MODE_XGA }, { 1024, 768 } },
-            { { RS2_SENSOR_MODE_QVGA }, { 320, 240 } } };
-
-
-    auto profile
-        = std::find_if( stream_profiles.begin(), stream_profiles.end(), [&]( stream_profile sp ) {
-              auto vp = sp.as< video_stream_profile >();
-              if( vp )
-              {
-                  return sp.stream_type() == stream
-                      && vp.width() == sensor_mode_to_resolution[mode].first
-                      && vp.height() == sensor_mode_to_resolution[mode].second;
-              }
-              return false;
-          } );
-
-    REQUIRE( profile != stream_profiles.end() );
-    return *profile;
-}
-
 inline void do_while_streaming( rs2::sensor depth_sens,
                                 std::vector< stream_profile > profiles,
                                 std::function< void() > action )

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java

@@ -72,7 +72,7 @@ public enum Option {
     INVALIDATION_BYPASS(68),
     AMBIENT_LIGHT(69), // Deprecated - Use DIGITAL_GAIN instead
     DIGITAL_GAIN(69),
-    SENSOR_MODE(70),
+    SENSOR_MODE(70),  // Deprecated
     EMITTER_ALWAYS_ON(71),
     THERMAL_COMPENSATION(72),
     TRIGGER_CAMERA_ACCURACY_HEALTH(73),

wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs

@@ -224,7 +224,7 @@ public enum Option
         /// <summary>Change the depth digital gain see rs2_digital_gain for values</summary>
         DigitalGain = 69,
 
-        /// <summary>The resolution mode: see rs2_sensor_mode for values</summary>
+        /// <summary>Deprecated - The resolution mode: see rs2_sensor_mode for values</summary>
         SensorMode = 70,
 
         /// <summary>Enable Laser On constantly (GS SKU Only)</summary>

wrappers/matlab/option.m

@@ -71,7 +71,7 @@
         invalidation_bypass             (68)
         ambient_light_env_level         (69) % Deprecated - Use DIGITAL_GAIN instead
         digital_gain                    (69)
-        sensor_mode                     (70)
+        sensor_mode                     (70) % Deprecated
         emitter_always_on               (71)
         thermal_compensation            (72)
         trigger_camera_accuracy_health  (73)

wrappers/python/pybackend.cpp

@@ -176,7 +176,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("activate_pixel_invalidation", RS2_OPTION_INVALIDATION_BYPASS)
         .value("ambient_light_environment_level", RS2_OPTION_AMBIENT_LIGHT)
         .value("digital_gain", RS2_OPTION_DIGITAL_GAIN)
-        .value("sensor_resolution_mode", RS2_OPTION_SENSOR_MODE)
+        .value("sensor_resolution_mode", RS2_OPTION_SENSOR_MODE)  // Deprecated
         .value("emitter_always_on", RS2_OPTION_EMITTER_ALWAYS_ON)
         .value("thermal_compensation", RS2_OPTION_THERMAL_COMPENSATION)
         .value("host_performance", RS2_OPTION_HOST_PERFORMANCE)

wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h

@@ -124,7 +124,7 @@ enum class ERealSenseOptionType : uint8
     INVALIDATION_BYPASS                        , /**< Enable\disable pixel invalidation */
     AMBIENT_LIGHT                              , /**< Change the depth ambient light see rs2_ambient_light for values */
     DIGITAL_GAIN = AMBIENT_LIGHT               , /**< Change the depth digital gain see rs2_digital_gain for values */
-    SENSOR_MODE                                , /**< The resolution mode: see rs2_sensor_mode for values */
+    SENSOR_MODE                                , /**< Deprecated!! - The resolution mode: see rs2_sensor_mode for values */
     EMITTER_ALWAYS_ON                          , /**< Enable Laser On constantly (GS SKU Only) */
     THERMAL_COMPENSATION                       , /**< Depth Thermal Compensation for selected D400 SKUs */
     TRIGGER_CAMERA_ACCURACY_HEALTH             , /**< DEPRECATED! */