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Support D500 BA10 calibration profiles and RAW16 preview - #15668
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Auto-generated review by rs-agentic bot. One potential bug flagged below.
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Auto-review of new commit (synchronize) by rs-agentic bot. Backend BA10 changes previously reviewed/approved. One note on the new RAW16 rendering path below.
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Reviewed the current head against all rs-agentic comments:
No correctness blocker was found from the current review comments. |
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| { | ||
| const size_t row_bytes = static_cast< size_t >( width ) * sizeof( uint16_t ); | ||
| const size_t pixel_count = static_cast< size_t >( width ) * height; | ||
| if( !data || stride < static_cast< int >( row_bytes ) |
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✅ Fixed in 1141ad2. The RAW16 renderer now rejects non-positive frame dimensions before scanning row samples.
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Auto-review of new commit (sync event) — one bug found in the RAW16 renderer guard.
Signed-off-by: zhou <shengyong.zhou@realsenseai.com>
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Summary
Recognize BA10 (V4L2 SGRBG10) as D500 RGB calibration data in both 3C and 2C, and allow the Viewer to display the resulting RAW16 frames as grayscale.
Tracked on [RSDEV-14616]
Changes
RS2_FORMAT_RAW16color profile for D500 3C and 2C.Y16IIR calibration path unchanged.Host Requirement
The GMSL host must advertise BA10 for the D500 calibration transport
The firmware continues using its existing RAW16 transport. This change does not add the historical GR16 alias or a new public SDK format.
Validation
realsense-viewerbuild passed on Jetson67; no system SDK installation.2.59.0.0.Scope
The Viewer preview is grayscale only. Color reconstruction would require BA10/GRBG10 identity to be exposed through the public SDK format contract and a dedicated debayer path, which is intentionally outside this minimal change.
The current aggregate 2C host node does not provide left/right fan-out; this patch only adds format recognition and display support. Pixel mode and D4xx were not hardware-validated.
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