removing unused calibration data types

Author: remibettan

include/librealsense2/h/rs_types.h

@@ -280,53 +280,6 @@ const char* rs2_get_failed_args                (const rs2_error* error);
 const char* rs2_get_error_message              (const rs2_error* error);
 void        rs2_free_error                     (rs2_error* error);
 
-#pragma pack(push, 1)
-/* rs2_calibration_roi - Array of four corners in Deph Frame Coordinate system that define a closed simple quadrangle (non-intersecting)*/
-typedef struct rs2_calibration_roi
-{
-    uint16_t mask_pixel[4][2];
-}rs2_calibration_roi;
-
-typedef struct float3_row_major { float x, y, z; } float3_row_major;
-typedef struct float3x3_row_major { float3_row_major x, y, z; } float3x3_row_major;
-
-typedef struct rs2_extrinsics_row_major
-{
-    float3x3_row_major rotation; // Rotation matrix
-    float3_row_major translation; // Metric units
-} rs2_extrinsics_row_major;
-
-typedef struct rs2_calibration_config
-{
-    uint8_t calib_roi_num_of_segments; // Within 0-4 range: 0 - Default.No limitations.Full FOV can be used in TC
-                                       //                   1 - 4: Segments defined.The segment must be sequential
-    rs2_calibration_roi roi[4];        // Segment 0 = convex tetragon - The vertices of the tetragon are ordered clockwise
-                                       //       Vertex = [x, y] = pixel coordinates in the reference depth map
-                                       //       0 - based coordinates : [0, 0] = center of the top - left pixel
-                                       // Segments 1-3 - structured identical to segment_#0 (reserved)
-                                       // The ROI segments can intersect, but each must be convex(angles <= 180 degrees).
-    uint8_t reserved1[12];
-    rs2_extrinsics_row_major camera_position;
-    uint8_t reserved2[300];
-    uint8_t crypto_signature[32];
-    uint8_t reserved3[39];
-} rs2_calibration_config;
-
-typedef struct rs2_calibration_config_header
-{
-    uint16_t version;       // major.minor. Big-endian
-    uint16_t table_type;    // type
-    uint32_t table_size;    // full size including: header footer
-    uint32_t calib_version; // major.minor.index
-    uint32_t crc32;         // crc of all the data in table excluding this header/CRC
-} rs2_calibration_config_header;
-
-typedef struct rs2_calibration_config_with_header
-{
-    rs2_calibration_config_header header;
-    rs2_calibration_config payload;
-} rs2_calibration_config_with_header;
-#pragma pack(pop)
 
 #ifdef __cplusplus
 }

include/librealsense2/hpp/rs_types.hpp

@@ -211,9 +211,4 @@ namespace rs2
 inline std::ostream & operator << (std::ostream & o, rs2_vector v) { return o << v.x << ", " << v.y << ", " << v.z; }
 inline std::ostream & operator << (std::ostream & o, rs2_quaternion q) { return o << q.x << ", " << q.y << ", " << q.z << ", " << q.w; }
 
-inline bool operator==(rs2_calibration_config const& self, rs2_calibration_config const& other)
-{
-    return !std::memcmp(&self, &other, sizeof(rs2_calibration_config));
-}
-
 #endif // LIBREALSENSE_RS2_TYPES_HPP

src/ds/d500/d500-debug-protocol-calibration-engine.cpp

@@ -60,23 +60,6 @@ std::vector<uint8_t> d500_debug_protocol_calibration_engine::run_triggered_calib
     return _dev->send_receive_raw_data(cmd);
 }
 
-static std::vector<uint8_t> add_header_to_calib_config(const rs2_calibration_config& calib_config)
-{
-    // calculate CRC
-    uint32_t computed_crc32 = rsutils::number::calc_crc32(reinterpret_cast<const uint8_t*>(&calib_config),
-        sizeof(rs2_calibration_config));
-
-    // prepare vector of data to be sent (header + sp)
-    rs2_calibration_config_with_header calib_config_with_header;
-    uint16_t version = ((uint16_t)0x01 << 8) | 0x01;  // major=0x01, minor=0x01 --> ver = major.minor
-    uint32_t calib_version = 0;  // ignoring this field, as requested by sw architect
-    calib_config_with_header.header = { version, static_cast<uint16_t>(ds::d500_calibration_table_id::calib_cfg_id),
-        sizeof(rs2_calibration_config), calib_version, computed_crc32 };
-    calib_config_with_header.payload = calib_config;
-    auto data_as_ptr = reinterpret_cast<uint8_t*>(&calib_config_with_header);
-    return std::vector<uint8_t>(data_as_ptr, data_as_ptr + sizeof(rs2_calibration_config_with_header));
-}
-
 calibration_state d500_debug_protocol_calibration_engine::get_triggered_calibration_state() const
 {
     return _calib_ans.state;