remove deprecated L500 APIs

include/librealsense2/h/rs_sensor.h

@@ -635,24 +635,6 @@ void rs2_override_intrinsics( const rs2_sensor* sensor, const rs2_intrinsics* in
  */
 void rs2_set_extrinsics(const rs2_sensor* from_sensor, const rs2_stream_profile* from_profile, rs2_sensor* to_sensor, const rs2_stream_profile* to_profile, const rs2_extrinsics* extrinsics, rs2_error** error);
 
-/**
- * Get the DSM parameters for a sensor
- * \param[in]  sensor        Sensor that supports the CALIBRATED_SENSOR extension
- * \param[out] p_params_out  Pointer to the structure that will get the DSM parameters
- * \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- */
-void rs2_get_dsm_params( rs2_sensor const * sensor, rs2_dsm_params * p_params_out, rs2_error** error );
-
-/**
- * Set the sensor DSM parameters
- * This should ideally be done when the stream is NOT running. If it is, the
- * parameters may not take effect immediately.
- * \param[in]  sensor        Sensor that supports the CALIBRATED_SENSOR extension
- * \param[out] p_params      Pointer to the structure that contains the DSM parameters
- * \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- */
-void rs2_override_dsm_params( rs2_sensor const * sensor, rs2_dsm_params const * p_params, rs2_error** error );
-
 /**
  * Reset the sensor DSM parameters
  * This should ideally be done when the stream is NOT running. May not take effect immediately.

include/librealsense2/h/rs_types.h

@@ -67,38 +67,6 @@ typedef struct rs2_intrinsics
     float         coeffs[5]; /**< Distortion coefficients. Order for Brown-Conrady: [k1, k2, p1, p2, k3]. Order for F-Theta Fish-eye: [k1, k2, k3, k4, 0]. Other models are subject to their own interpretations */
 } rs2_intrinsics;
 
-/** \brief Video DSM (Digital Sync Module) parameters for calibration (same layout as in FW ac_depth_params)
-    This is the block in MC that converts angles to dimensionless integers reported to MA (using "DSM coefficients").
-*/
-#pragma pack( push, 1 )
-    typedef struct rs2_dsm_params
-    {
-        unsigned long long timestamp;               /**< system_clock::time_point::time_since_epoch().count() */
-        unsigned short version;                     /**< MAJOR<<12 | MINOR<<4 | PATCH */
-        unsigned char model;                        /**< rs2_dsm_correction_model */
-        unsigned char flags[5];                     /**< TBD, now 0s */
-        float h_scale;                              /**< the scale factor to horizontal DSM scale thermal results */
-        float v_scale;                              /**< the scale factor to vertical DSM scale thermal results */
-        float h_offset;                             /**< the offset to horizontal DSM offset thermal results */
-        float v_offset;                             /**< the offset to vertical DSM offset thermal results */
-        float rtd_offset;                           /**< the offset to the Round-Trip-Distance delay thermal results */
-        unsigned char temp_x2;                      /**< the temperature recorded times 2 (ldd for depth; hum for rgb) */
-        float mc_h_scale;                           /**< the scale factor to horizontal LOS coefficients in MC */
-        float mc_v_scale;                           /**< the scale factor to vertical LOS coefficients in MC */
-        unsigned char weeks_since_calibration;      /**< time (in weeks) since factory calibration */
-        unsigned char ac_weeks_since_calibaration;  /**< time (in weeks) between factory calibration and last AC event */
-        unsigned char reserved[1];
-    } rs2_dsm_params;
-#pragma pack( pop )
-
-typedef enum rs2_dsm_correction_model
-{
-    RS2_DSM_CORRECTION_NONE,        /**< hFactor and hOffset are not used, and no artificial error is induced */
-    RS2_DSM_CORRECTION_AOT,         /**< Aging-over-thermal (default); aging-induced error is uniform across temperature */
-    RS2_DSM_CORRECTION_TOA,         /**< Thermal-over-aging; aging-induced error changes alongside temperature */
-    RS2_DSM_CORRECTION_COUNT
-} rs2_dsm_correction_model;
-
 /** \brief Motion device intrinsics: scale, bias, and variances. */
 typedef struct rs2_motion_device_intrinsic
 {

include/librealsense2/hpp/rs_sensor.hpp

@@ -663,68 +663,6 @@ namespace rs2
         explicit wheel_odometer(std::shared_ptr<rs2_sensor> dev) : wheel_odometer(sensor(dev)) {}
     };
 
-    class calibrated_sensor : public sensor
-    {
-    public:
-        calibrated_sensor( sensor s )
-            : sensor( s.get() )
-        {
-            rs2_error* e = nullptr;
-            if( rs2_is_sensor_extendable_to( _sensor.get(), RS2_EXTENSION_CALIBRATED_SENSOR, &e ) == 0 && !e )
-            {
-                _sensor.reset();
-            }
-            error::handle( e );
-        }
-
-        operator bool() const { return _sensor.get() != nullptr; }
-
-        /** Override the intrinsics at the sensor level, as DEPTH_TO_RGB calibration does */
-        void override_intrinsics( rs2_intrinsics const& intr )
-        {
-            rs2_error* e = nullptr;
-            rs2_override_intrinsics( _sensor.get(), &intr, &e );
-            error::handle( e );
-        }
-
-        /** Override the intrinsics at the sensor level, as DEPTH_TO_RGB calibration does */
-        void override_extrinsics( rs2_extrinsics const& extr )
-        {
-            rs2_error* e = nullptr;
-            rs2_override_extrinsics( _sensor.get(), &extr, &e );
-            error::handle( e );
-        }
-
-        /** Override the intrinsics at the sensor level, as DEPTH_TO_RGB calibration does */
-        rs2_dsm_params get_dsm_params() const
-        {
-            rs2_error* e = nullptr;
-            rs2_dsm_params params;
-            rs2_get_dsm_params( _sensor.get(), &params, &e );
-            error::handle( e );
-            return params;
-        }
-
-        /** Set the sensor DSM parameters
-         * This should ideally be done when the stream is NOT running. If it is, the
-         * parameters may not take effect immediately. */
-        void override_dsm_params( rs2_dsm_params const & params )
-        {
-            rs2_error* e = nullptr;
-            rs2_override_dsm_params( _sensor.get(), &params, &e );
-            error::handle( e );
-        }
-
-        /** Reset the sensor DSM calibration
-         */
-        void reset_calibration()
-        {
-            rs2_error* e = nullptr;
-            rs2_reset_sensor_calibration( _sensor.get(), &e );
-            error::handle( e );
-        }
-    };
-
     class max_usable_range_sensor : public sensor
     {
     public:

src/CMakeLists.txt

@@ -148,7 +148,6 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/platform/command-transfer.h"
         "${CMAKE_CURRENT_LIST_DIR}/auto-calibrated-device.h"
         "${CMAKE_CURRENT_LIST_DIR}/device-calibration.h"
-        "${CMAKE_CURRENT_LIST_DIR}/calibrated-sensor.h"
         "${CMAKE_CURRENT_LIST_DIR}/serializable-interface.h"
         "${CMAKE_CURRENT_LIST_DIR}/max-usable-range-sensor.h"
         "${CMAKE_CURRENT_LIST_DIR}/debug-stream-sensor.h"

src/max-usable-range-sensor.h

@@ -3,7 +3,7 @@
 
 #pragma once
 
-#include "types.h"
+#include "core/extension.h"
 
 namespace librealsense
 {

src/realsense.def

@@ -31,8 +31,6 @@ EXPORTS
     rs2_override_extrinsics
     rs2_get_motion_intrinsics
     rs2_override_intrinsics
-    rs2_get_dsm_params
-    rs2_override_dsm_params
     rs2_reset_sensor_calibration
 
     rs2_get_stream_profiles

src/rs.cpp

@@ -49,7 +49,6 @@
 #include "terminal-parser.h"
 #include "firmware_logger_device.h"
 #include "device-calibration.h"
-#include "calibrated-sensor.h"
 #include <librealsense2/h/rs_internal.h>
 #include "debug-stream-sensor.h"
 #include "max-usable-range-sensor.h"
@@ -1226,40 +1225,13 @@ HANDLE_EXCEPTIONS_AND_RETURN(, from, to, extrin)
 
 void rs2_override_extrinsics( const rs2_sensor* sensor, const rs2_extrinsics* extrinsics, rs2_error** error ) BEGIN_API_CALL
 {
-    VALIDATE_NOT_NULL( sensor );
-    VALIDATE_NOT_NULL( extrinsics );
-
-    auto ois = VALIDATE_INTERFACE( sensor->sensor, librealsense::calibrated_sensor );
-    ois->override_extrinsics( *extrinsics );
+    throw not_implemented_exception( "deprecated" );
 }
 HANDLE_EXCEPTIONS_AND_RETURN( , sensor, extrinsics )
 
-void rs2_get_dsm_params( const rs2_sensor * sensor, rs2_dsm_params * p_params_out, rs2_error** error ) BEGIN_API_CALL
-{
-    VALIDATE_NOT_NULL( sensor );
-    VALIDATE_NOT_NULL( p_params_out );
-
-    auto cs = VALIDATE_INTERFACE( sensor->sensor, librealsense::calibrated_sensor );
-    *p_params_out = cs->get_dsm_params();
-}
-HANDLE_EXCEPTIONS_AND_RETURN( , sensor, p_params_out )
-
-void rs2_override_dsm_params( const rs2_sensor * sensor, rs2_dsm_params const * p_params, rs2_error** error ) BEGIN_API_CALL
-{
-    VALIDATE_NOT_NULL( sensor );
-    VALIDATE_NOT_NULL( p_params );
-
-    auto cs = VALIDATE_INTERFACE( sensor->sensor, librealsense::calibrated_sensor );
-    cs->override_dsm_params( *p_params );
-}
-HANDLE_EXCEPTIONS_AND_RETURN( , sensor, p_params )
-
 void rs2_reset_sensor_calibration( rs2_sensor const * sensor, rs2_error** error ) BEGIN_API_CALL
 {
-    VALIDATE_NOT_NULL( sensor );
-
-    auto cs = VALIDATE_INTERFACE( sensor->sensor, librealsense::calibrated_sensor );
-    cs->reset_calibration();
+    throw not_implemented_exception( "deprecated" );
 }
 HANDLE_EXCEPTIONS_AND_RETURN( , sensor )
 
@@ -1469,7 +1441,7 @@ int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extensio
     case RS2_EXTENSION_COLOR_SENSOR            : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::color_sensor)           != nullptr;
     case RS2_EXTENSION_MOTION_SENSOR           : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::motion_sensor)          != nullptr;
     case RS2_EXTENSION_FISHEYE_SENSOR          : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::fisheye_sensor)         != nullptr;
-    case RS2_EXTENSION_CALIBRATED_SENSOR       : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::calibrated_sensor)      != nullptr;
+    case RS2_EXTENSION_CALIBRATED_SENSOR       : return false;
     case RS2_EXTENSION_MAX_USABLE_RANGE_SENSOR : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::max_usable_range_sensor)!= nullptr;
     case RS2_EXTENSION_DEBUG_STREAM_SENSOR     : return VALIDATE_INTERFACE_NO_THROW(sensor->sensor, librealsense::debug_stream_sensor )   != nullptr;
 
@@ -2786,11 +2758,7 @@ HANDLE_EXCEPTIONS_AND_RETURN(, sensor, profile, intrinsics)
 
 void rs2_override_intrinsics( const rs2_sensor* sensor, const rs2_intrinsics* intrinsics, rs2_error** error ) BEGIN_API_CALL
 {
-    VALIDATE_NOT_NULL( sensor );
-    VALIDATE_NOT_NULL( intrinsics );
-
-    auto ois = VALIDATE_INTERFACE( sensor->sensor, librealsense::calibrated_sensor );
-    ois->override_intrinsics( *intrinsics );
+    throw not_implemented_exception( "deprecated" );
 }
 HANDLE_EXCEPTIONS_AND_RETURN( , sensor, intrinsics )
 

src/types.h

@@ -871,43 +871,6 @@ inline std::ostream& operator<<( std::ostream& out, rs2_intrinsics const & i )
         << "] ]";
 }
 
-inline std::ostream& operator<<( std::ostream& s, rs2_dsm_params const & self )
-{
-    s << "[ ";
-    if( self.timestamp )
-    {
-        time_t t = self.timestamp;
-        auto ptm = localtime( &t );
-        char buf[256];
-        strftime( buf, sizeof( buf ), "%F.%T ", ptm );
-        s << buf;
-
-        unsigned patch = self.version & 0xF;
-        unsigned minor = (self.version >> 4) & 0xFF;
-        unsigned major = (self.version >> 12);
-        s << major << '.' << minor << '.' << patch << ' ';
-    }
-    else
-    {
-        s << "new: ";
-    }
-    switch( self.model )
-    {
-    case RS2_DSM_CORRECTION_NONE: break;
-    case RS2_DSM_CORRECTION_AOT: s << "AoT "; break;
-    case RS2_DSM_CORRECTION_TOA: s << "ToA "; break;
-    }
-    s << "x[" << self.h_scale << " " << self.v_scale << "] ";
-    s << "+[" << self.h_offset << " " << self.v_offset;
-    if( self.rtd_offset )
-        s << " rtd " << self.rtd_offset;
-    s << "]";
-    if( self.temp_x2 )
-        s << " @" << float( self.temp_x2 ) / 2 << "degC";
-    s << " ]";
-    return s;
-}
-
 template<typename T>
 uint32_t rs_fourcc(const T a, const T b, const  T c, const T d)
 {

wrappers/python/c_files.cpp

@@ -4,7 +4,6 @@ Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
 #include "pyrealsense2.h"
 #include <librealsense2/rs.h>
 #include <iomanip>
-#include <src/types.h>
 
 std::string make_pythonic_str(std::string str)
 {
@@ -76,36 +75,17 @@ void init_c_files(py::module &m) {
         .def_readwrite("fy", &rs2_intrinsics::fy, "Focal length of the image plane, as a multiple of pixel height")
         .def_readwrite("model", &rs2_intrinsics::model, "Distortion model of the image")
         .def_property(BIND_RAW_ARRAY_PROPERTY(rs2_intrinsics, coeffs, float, 5), "Distortion coefficients")
-        .def("__repr__", [](const rs2_intrinsics& self) {
-            std::ostringstream ss;
-            ss << self;
-            return ss.str();
-        });
-
-    py::class_<rs2_dsm_params> dsm_params( m, "dsm_params", "Video stream DSM parameters" );
-    dsm_params.def( py::init<>() )
-        .def_readonly( "timestamp", &rs2_dsm_params::timestamp, "seconds since epoch" )
-        .def_readonly( "version", &rs2_dsm_params::version, "major<<12 | minor<<4 | patch" )
-        .def_readwrite( "model", &rs2_dsm_params::model, "correction model (0/1/2 none/AOT/TOA)" )
-        .def_property( BIND_RAW_ARRAY_PROPERTY( rs2_dsm_params, flags, uint8_t, sizeof( rs2_dsm_params::flags )), "flags" )
-        .def_readwrite( "h_scale", &rs2_dsm_params::h_scale, "horizontal DSM scale" )
-        .def_readwrite( "v_scale", &rs2_dsm_params::v_scale, "vertical DSM scale" )
-        .def_readwrite( "h_offset", &rs2_dsm_params::h_offset, "horizontal DSM offset" )
-        .def_readwrite( "v_offset", &rs2_dsm_params::v_offset, "vertical DSM offset" )
-        .def_readwrite( "rtd_offset", &rs2_dsm_params::rtd_offset, "the Round-Trip-Distance delay" )
-        .def_property_readonly( "temp", 
-            []( rs2_dsm_params const & self ) -> float {
-                           return float( self.temp_x2 ) / 2;
-                       },
-            "temperature (LDD for depth; HUM for color)" )
-        .def_property( BIND_RAW_ARRAY_PROPERTY( rs2_dsm_params, reserved, uint8_t, sizeof( rs2_dsm_params::reserved )), "reserved" )
         .def( "__repr__",
-            []( const rs2_dsm_params & self )
-            {
-                std::ostringstream ss;
-                ss << self;
-                return ss.str();
-            } );
+              []( const rs2_intrinsics & i )
+              {
+                  std::ostringstream ss;
+                  ss << "[ " << i.width << "x" << i.height
+                     << "  p[" << i.ppx << " " << i.ppy << "]"
+                     << "  f[" << i.fx << " " << i.fy << "]"
+                     << "  " << rs2_distortion_to_string( i.model ) << " [" << i.coeffs[0] << " " << i.coeffs[1] << " "
+                     << i.coeffs[2] << " " << i.coeffs[3] << " " << i.coeffs[4] << "] ]";
+                  return ss.str();
+              } );
 
     py::class_<rs2_motion_device_intrinsic> motion_device_intrinsic(m, "motion_device_intrinsic", "Motion device intrinsics: scale, bias, and variances.");
     motion_device_intrinsic.def(py::init<>())

wrappers/python/pyrs_sensor.cpp

@@ -3,7 +3,6 @@ Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
 
 #include "pyrealsense2.h"
 #include <librealsense2/hpp/rs_sensor.hpp>
-#include "calibrated-sensor.h"
 #include "max-usable-range-sensor.h"
 
 void init_sensor(py::module &m) {
@@ -75,7 +74,6 @@ void init_sensor(py::module &m) {
         .def(BIND_DOWNCAST(sensor, motion_sensor))
         .def(BIND_DOWNCAST(sensor, fisheye_sensor))
         .def(BIND_DOWNCAST(sensor, pose_sensor))
-        .def(BIND_DOWNCAST(sensor, calibrated_sensor))
         .def(BIND_DOWNCAST(sensor, wheel_odometer))
         .def(BIND_DOWNCAST(sensor, max_usable_range_sensor))
         .def(BIND_DOWNCAST(sensor, debug_stream_sensor))
@@ -116,27 +114,6 @@ void init_sensor(py::module &m) {
     py::class_<rs2::fisheye_sensor, rs2::sensor> fisheye_sensor(m, "fisheye_sensor"); // No docstring in C++
     fisheye_sensor.def(py::init<rs2::sensor>(), "sensor"_a);
 
-    py::class_<rs2::calibrated_sensor, rs2::sensor> cal_sensor( m, "calibrated_sensor" );
-    cal_sensor.def(py::init<rs2::sensor>(), "sensor"_a)
-        .def("override_intrinsics",
-            &rs2::calibrated_sensor::override_intrinsics,
-            "intrinsics"_a,
-            py::call_guard< py::gil_scoped_release >())
-        .def("override_extrinsics",
-            &rs2::calibrated_sensor::override_extrinsics,
-            "extrinsics"_a,
-            py::call_guard< py::gil_scoped_release >())
-        .def("get_dsm_params",
-            &rs2::calibrated_sensor::get_dsm_params,
-            py::call_guard< py::gil_scoped_release >())
-        .def("override_dsm_params",
-            &rs2::calibrated_sensor::override_dsm_params,
-            "dsm_params"_a,
-            py::call_guard< py::gil_scoped_release >())
-        .def("reset_calibration",
-            &rs2::calibrated_sensor::reset_calibration,
-            py::call_guard< py::gil_scoped_release >());
-
     py::class_<rs2::max_usable_range_sensor, rs2::sensor> mur_sensor(m, "max_usable_range_sensor");
     mur_sensor.def(py::init<rs2::sensor>(), "sensor"_a)
         .def("get_max_usable_depth_range",