PR #13524 from OhadMeir: Reread calibration tables after applying OCC…

… calibration

src/auto-calibrated-device.h

@@ -28,6 +28,14 @@ namespace librealsense
             float target_w, float target_h, rs2_update_progress_callback_sptr progress_callback) = 0;
         virtual std::string get_calibration_config() const = 0;
         virtual void set_calibration_config(const std::string& calibration_config_json_str) const = 0;
+
+        void add_depth_write_observer( std::function< void() > callback ) { _depth_write_callbacks.push_back( callback ); }
+        void add_color_write_observer( std::function< void() > callback ) { _color_write_callbacks.push_back( callback ); }
+
+    protected:
+        std::vector< std::function< void() > > _depth_write_callbacks; // Notify observers when depth tables are written
+        std::vector< std::function< void() > > _color_write_callbacks; // Notify observers when color table is written
+
     };
     MAP_EXTENSION(RS2_EXTENSION_AUTO_CALIBRATED_DEVICE, auto_calibrated_interface);
 }

src/ds/d400/d400-auto-calibration.cpp

@@ -1599,6 +1599,18 @@ namespace librealsense
 
         LOG_DEBUG("Flashing " << ((tbl_id == d400_calibration_table_id::coefficients_table_id) ? "Depth" : "RGB") << " calibration table");
 
+        switch( tbl_id )
+        {
+        case d400_calibration_table_id::coefficients_table_id:
+            for( auto & cb : _depth_write_callbacks )
+                cb();
+            break;
+        case d400_calibration_table_id::rgb_calibration_id:
+            for( auto & cb : _color_write_callbacks )
+                cb();
+            break;
+        // default: Will not arrive here, was thrown in previous switch
+        }
     }
 
     void auto_calibrated::set_calibration_table(const std::vector<uint8_t>& calibration)
@@ -1638,6 +1650,11 @@ namespace librealsense
     {
         command cmd(ds::fw_cmd::CAL_RESTORE_DFLT);
         _hw_monitor->send(cmd);
+
+        for( auto & cb : _depth_write_callbacks )
+            cb();
+        for( auto & cb : _color_write_callbacks )
+            cb();
     }
 
     std::vector<uint8_t> auto_calibrated::run_focal_length_calibration(rs2_frame_queue* left, rs2_frame_queue* right, float target_w, float target_h,

src/ds/d400/d400-color.cpp

@@ -156,7 +156,9 @@ namespace librealsense
         {
             register_metadata_mipi(color_ep);
         }
-        register_processing_blocks();       
+        register_processing_blocks();
+
+        auto_calibrated::add_color_write_observer( [this]() {  _color_calib_table_raw.reset(); } );
     }
 
     void d400_color::register_options()

src/ds/d400/d400-device.cpp

@@ -969,6 +969,12 @@ namespace librealsense
         std::string curr_version= _fw_version;
 
         register_features();
+
+        auto_calibrated::add_depth_write_observer( [this]()
+        { 
+            _coefficients_table_raw.reset();
+            _new_calib_table_raw.reset();
+        } );
     }
 
     void d400_device::register_features()

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

@@ -432,6 +432,12 @@ namespace librealsense
     void d500_auto_calibrated::write_calibration() const
     {
         _calib_engine->write_calibration(_curr_calibration);
+
+        for( auto & cb : _depth_write_callbacks )
+            cb();
+        // Currently only depth calibrations are supported, call correct callbacks based on table type otherwise
+        //for( auto & cb : _color_write_callbacks )
+        //    cb();
     }
 
     void d500_auto_calibrated::set_calibration_table(const std::vector<uint8_t>& calibration)
@@ -463,6 +469,12 @@ namespace librealsense
     void d500_auto_calibrated::reset_to_factory_calibration() const
     {
         throw not_implemented_exception(rsutils::string::from() << "Reset to factory Calibration not applicable for this device");
+
+        // Uncomment if function implemented
+        //for( auto & cb : _depth_write_callbacks )
+        //    cb();
+        //for( auto & cb : _color_write_callbacks )
+        //    cb();
     }
 
     std::vector< uint8_t > d500_auto_calibrated::run_focal_length_calibration( rs2_frame_queue * left,

src/ds/d500/d500-color.cpp

@@ -111,6 +111,8 @@ namespace librealsense
         register_options();
         register_metadata();
         register_color_processing_blocks();
+
+        d500_auto_calibrated::add_color_write_observer( [this]() {  _color_calib_table_raw.reset(); } );
     }
 
     void d500_color::register_color_processing_blocks()

src/ds/d500/d500-device.cpp

@@ -602,6 +602,7 @@ namespace librealsense
 
             depth_sensor.register_option( RS2_OPTION_ERROR_POLLING_ENABLED,
                                           std::make_shared< polling_errors_disable >( _polling_error_handler ) );
+
         }); //group_multiple_fw_calls
 
         // attributes of md_capture_timing
@@ -702,6 +703,12 @@ namespace librealsense
             register_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR, usb_type_str);
 
         register_features();
+
+        d500_auto_calibrated::add_depth_write_observer( [this]()
+        {
+            _coefficients_table_raw.reset();
+            _new_calib_table_raw.reset();
+        } );
     }
 
     void d500_device::register_features()