Add Thermal Compensation option

include/librealsense2/h/rs_option.h

@@ -93,6 +93,7 @@ extern "C" {
         RS2_OPTION_AMBIENT_LIGHT, /**< Change the depth ambient light see rs2_ambient_light for values */
         RS2_OPTION_SENSOR_MODE, /**< The resolution mode: see rs2_sensor_mode for values */
         RS2_OPTION_EMITTER_ALWAYS_ON, /**< Enable Laser On constantly (GS SKU Only) */
+        RS2_OPTION_THERMAL_COMPENSATION, /**< Depth Thermal Compensation for selected D400 SKUs */
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

src/ds5/ds5-device.cpp

@@ -691,6 +691,13 @@ namespace librealsense
                     "Set the power level of the LED, with 0 meaning LED off"));
         }
 
+        if ((pid == RS405_PID || pid == RS455_PID) && _fw_version >= firmware_version("5.12.4.0"))
+        {
+            depth_sensor.register_option(RS2_OPTION_THERMAL_COMPENSATION,
+                std::make_shared<uvc_xu_option<uint8_t>>(raw_depth_sensor, depth_xu, DS5_THERMAL_COMPENSATION,
+                    "Toggle Depth Sensor Thermal Compensation"));
+        }
+
         if (_fw_version >= firmware_version("5.6.3.0"))
         {
             _is_locked = _hw_monitor->is_camera_locked(GVD, is_camera_locked_offset);

src/ds5/ds5-private.h

@@ -52,6 +52,7 @@ namespace librealsense
         const uint8_t DS5_ENABLE_AUTO_WHITE_BALANCE       = 0xA;
         const uint8_t DS5_ENABLE_AUTO_EXPOSURE            = 0xB;
         const uint8_t DS5_LED_PWR                         = 0xE;
+        const uint8_t DS5_THERMAL_COMPENSATION            = 0xF;
 
         // Devices supported by the current version
         static const std::set<std::uint16_t> rs400_sku_pid = {

src/types.cpp

@@ -328,6 +328,7 @@ namespace librealsense
             CASE(AMBIENT_LIGHT)
             CASE(SENSOR_MODE)
             CASE(EMITTER_ALWAYS_ON)
+            CASE(THERMAL_COMPENSATION)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE

wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java

@@ -72,7 +72,8 @@ public enum Option {
     INVALIDATION_BYPASS(68),
     AMBIENT_LIGHT(69),
     SENSOR_MODE(70),
-    EMITTER_ALWAYS_ON(71);
+    EMITTER_ALWAYS_ON(71),
+    THERMAL_COMPENSATION(72);
 
     private final int mValue;
 

wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs

@@ -225,6 +225,9 @@ public enum Option
         SensorMode = 70,
 
         /// <summary>Enable Laser On constantly (GS SKU Only)</summary>
-        EmitterAlwaysOn = 71
+        EmitterAlwaysOn = 71,
+
+        /// <summary>Depth Thermal Compensation for selected D400 SKUs</summary>
+        ThermalCompensation = 72
     }
 }

wrappers/matlab/option.m

@@ -72,6 +72,7 @@
         ambient_light_env_level         (69)
         sensor_mode                     (70)
         emitter_always_on               (71)
-        count                           (72)
+        thermal_compensation            (72)
+        count                           (73)
     end
 end

wrappers/nodejs/index.js

@@ -4932,6 +4932,7 @@ const option = {
    * @type {Integer}
    */
   OPTION_EMITTER_ALWAYS_ON: RS2.RS2_OPTION_EMITTER_ALWAYS_ON,
+  OPTION_THERMAL_COMPENSATION: RS2.RS2_OPTION_THERMAL_COMPENSATION,
   /**
    * Number of enumeration values. Not a valid input: intended to be used in for-loops.
    * @type {Integer}
@@ -5078,6 +5079,8 @@ const option = {
         return this.option_freefall_detection_enabled;
       case this.OPTION_EMITTER_ALWAYS_ON:
         return this.option_emitter_always_on;
+      case this.OPTION_THERMAL_COMPENSATION:
+        return this.option_thermal_compensation;
       default:
         throw new TypeError(
             'option.optionToString(option) expects a valid value as the 1st argument');

wrappers/nodejs/src/addon.cpp

@@ -4698,6 +4698,7 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_OPTION_AMBIENT_LIGHT);
   _FORCE_SET_ENUM(RS2_OPTION_SENSOR_MODE);
   _FORCE_SET_ENUM(RS2_OPTION_EMITTER_ALWAYS_ON);
+  _FORCE_SET_ENUM(RS2_OPTION_THERMAL_COMPENSATION);
   _FORCE_SET_ENUM(RS2_OPTION_COUNT);
 
   // rs2_camera_info

wrappers/python/pybackend.cpp

@@ -171,6 +171,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("ambient_light_environment_level", RS2_OPTION_AMBIENT_LIGHT)
         .value("sensor_resolution_mode", RS2_OPTION_SENSOR_MODE)
         .value("emitter_always_on", RS2_OPTION_EMITTER_ALWAYS_ON)
+        .value("thermal_compensation", RS2_OPTION_THERMAL_COMPENSATION)
         .value("count", RS2_OPTION_COUNT);
 
     py::enum_<platform::power_state> power_state(m, "power_state");

wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h

@@ -3,14 +3,14 @@
 #include "RealSenseTypes.generated.h"
 
 namespace rs2 {
-	class config;
-	class device;
-	class pipeline;
-	class frameset;
-	class frame;
-	class align;
-	class pointcloud;
-	class points;
+    class config;
+    class device;
+    class pipeline;
+    class frameset;
+    class frame;
+    class align;
+    class pointcloud;
+    class points;
 }
 
 // typedef enum rs2_stream
@@ -125,80 +125,81 @@ enum class ERealSenseOptionType : uint8
     AMBIENT_LIGHT                              , /**< Change the depth ambient light see rs2_ambient_light for values */
     SENSOR_MODE                                , /**< The resolution mode: see rs2_sensor_mode for values */
     EMITTER_ALWAYS_ON                          , /**< Enable Laser On constantly (GS SKU Only) */
+    THERMAL_COMPENSATION                       , /**< Depth Thermal Compensation for selected D400 SKUs */
 };
 
 UENUM(Blueprintable)
 enum class ERealSensePipelineMode : uint8
 {
-	CaptureOnly,
-	RecordFile,
-	PlaybackFile,
+    CaptureOnly,
+    RecordFile,
+    PlaybackFile,
 };
 
 UENUM(Blueprintable)
 enum class ERealSenseDepthColormap : uint8
 {
-	Jet,
-	Classic,
-	WhiteToBlack,
-	BlackToWhite,
-	Bio,
-	Cold,
-	Warm,
-	Quantized,
-	Pattern,
+    Jet,
+    Classic,
+    WhiteToBlack,
+    BlackToWhite,
+    Bio,
+    Cold,
+    Warm,
+    Quantized,
+    Pattern,
 };
 
 USTRUCT(BlueprintType)
 struct FRealSenseStreamProfile
 {
-	GENERATED_BODY()
+    GENERATED_BODY()
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	ERealSenseStreamType StreamType = ERealSenseStreamType::STREAM_ANY;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    ERealSenseStreamType StreamType = ERealSenseStreamType::STREAM_ANY;
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	ERealSenseFormatType Format = ERealSenseFormatType::FORMAT_ANY;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    ERealSenseFormatType Format = ERealSenseFormatType::FORMAT_ANY;
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	int32 Width = 640;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    int32 Width = 640;
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	int32 Height = 480;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    int32 Height = 480;
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	int32 Rate = 30;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    int32 Rate = 30;
 };
 
 USTRUCT(BlueprintType)
 struct FRealSenseStreamMode
 {
-	GENERATED_BODY()
+    GENERATED_BODY()
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	int32 Width = 640;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    int32 Width = 640;
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	int32 Height = 480;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    int32 Height = 480;
 
-	UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
-	int32 Rate = 30;
+    UPROPERTY(Category="RealSense", BlueprintReadWrite, EditAnywhere)
+    int32 Rate = 30;
 };
 
 USTRUCT(BlueprintType)
 struct FRealSenseOptionRange
 {
-	GENERATED_BODY()
+    GENERATED_BODY()
 
-	UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
-	float Min;
+    UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
+    float Min;
 
-	UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
-	float Max;
+    UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
+    float Max;
 
-	UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
-	float Step;
+    UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
+    float Step;
 
-	UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
-	float Default;
+    UPROPERTY(Category="RealSense", BlueprintReadOnly, VisibleAnywhere)
+    float Default;
 };