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Fix D555 playback with motion stream - #14947
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Nir-Az merged 1 commit intoApr 19, 2026
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Pull request overview
This PR addresses playback issues for D555 recordings involving the motion stream by aligning stream/format handling and improving recorded depth scale availability during ROS2 playback.
Changes:
- Map
RS2_STREAM_MOTIONtoRS2_EXTENSION_MOTION_FRAMEfor correct frame allocation/type handling. - Record
depth_unitsin ROS2 frame metadata on write, and read it back on playback; update default depth scale used when not recorded. - Treat
RS2_FORMAT_COMBINED_MOTIONas non-rasterizeable in the rendering path.
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
src/source.cpp |
Adds RS2_STREAM_MOTION to stream→frame-extension mapping. |
src/media/ros_common.h |
Introduces DEPTH_UNITS_MD_STR metadata key constant. |
src/media/ros2/ros2_writer.cpp |
Writes depth_units into the per-frame metadata payload for depth frames. |
src/media/ros2/ros2_reader.cpp |
Removes depth-units derivation from recorded sensor options and reads depth_units from metadata; updates default depth scale in depth sensor snapshot. |
common/rendering.h |
Prevents attempting to rasterize RS2_FORMAT_COMBINED_MOTION. |
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Tracked on: [RSDEV-7845]