Remove depth invalidation option for L515

CMake/lrs_options.cmake

@@ -31,5 +31,4 @@ option(BUILD_NETWORK_DEVICE "Build Network Device support" OFF)
 option(FORCE_LIBUVC "Explicitly turn-on libuvc backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
 option(FORCE_WINUSB_UVC "Explicitly turn-on winusb_uvc (for win7) backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
 option(ANDROID_USB_HOST_UVC "Build UVC backend for Android - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
-option(ENABLE_L500_DEPTH_INVALIDATION "Turn on the depth frame validator to automatically catch corrupted frames and restart the sensor" OFF)
 option(CHECK_FOR_UPDATES "Checks for versions updates" OFF)

src/CMakeLists.txt

@@ -95,7 +95,6 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/terminal-parser.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/types.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/verify.c"
-        "${CMAKE_CURRENT_LIST_DIR}/frame-validator.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/depth-to-rgb-calibration.cpp"
 
         "${CMAKE_CURRENT_LIST_DIR}/algo.h"
@@ -126,7 +125,6 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/terminal-parser.h"
         "${CMAKE_CURRENT_LIST_DIR}/types.h"
         "${CMAKE_CURRENT_LIST_DIR}/command_transfer.h"
-        "${CMAKE_CURRENT_LIST_DIR}/frame-validator.h"
         "${CMAKE_CURRENT_LIST_DIR}/auto-calibrated-device.h"
         "${CMAKE_CURRENT_LIST_DIR}/device-calibration.h"
         "${CMAKE_CURRENT_LIST_DIR}/calibrated-sensor.h"

src/l500/CMakeLists.txt

@@ -26,6 +26,3 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/ac-trigger.cpp"
 )
 
-if (ENABLE_L500_DEPTH_INVALIDATION)
-    add_definitions(-DENABLE_L500_DEPTH_INVALIDATION)
-endif()

src/l500/l500-depth.cpp

@@ -176,11 +176,6 @@ namespace librealsense
             l500_depth_fourcc_to_rs2_stream_map )
         , _owner( owner )
     {
-#ifdef ENABLE_L500_DEPTH_INVALIDATION
-        _depth_invalidation_enabled = true;
-#else
-        _depth_invalidation_enabled = false;
-#endif
 
         register_option( RS2_OPTION_DEPTH_UNITS, std::make_shared<const_value_option>( "Number of meters represented by a single depth unit",
             lazy<float>( [&]() {
@@ -190,22 +185,6 @@ namespace librealsense
             lazy<float>( [&]() {
                 return get_depth_offset(); } ) ) );
 
-        _depth_invalidation_option = std::make_shared<depth_invalidation_option>(
-            0,
-            1,
-            1,
-            0,
-            &_depth_invalidation_enabled,
-            "depth invalidation enabled" );
-        _depth_invalidation_option->on_set( [this]( float val )
-            {
-                if( !_depth_invalidation_option->is_valid( val ) )
-                    throw invalid_value_exception( to_string()
-                        << "Unsupported depth invalidation enabled " << val << " is out of range." );
-            } );
-
-        // The depth invalidation enable option is deprecated for now.
-        //register_option(static_cast<rs2_option>(RS2_OPTION_DEPTH_INVALIDATION_ENABLE), _depth_invalidation_option);
     }
 
     int l500_depth_sensor::read_algo_version()
@@ -376,14 +355,7 @@ namespace librealsense
     {
         // The delay is here as a work around to a firmware bug [RS5-5453]
         _action_delayer.do_after_delay( [&]() {
-            if( _depth_invalidation_enabled )
-                synthetic_sensor::start(
-                    std::make_shared< frame_validator >( shared_from_this(),
-                                                         callback,
-                                                         _user_requests,
-                                                         _validator_requests ) );
-            else
-                synthetic_sensor::start( callback );
+            synthetic_sensor::start( callback );
             if( _owner->_autocal )
                 _owner->_autocal->start();
         } );
@@ -392,10 +364,7 @@ namespace librealsense
     void l500_depth_sensor::stop()
     {
     // The delay is here as a work around to a firmware bug [RS5-5453]
-        _action_delayer.do_after_delay([&]() {
-            synthetic_sensor::stop();
-            _depth_invalidation_option->set_streaming(false);
-        });
+        _action_delayer.do_after_delay([&]() { synthetic_sensor::stop(); });
         if( _owner->_autocal )
             _owner->_autocal->stop();
     }
@@ -487,7 +456,6 @@ namespace librealsense
         try
         {
             _user_requests = requests;
-            _depth_invalidation_option->set_streaming(true);
 
             auto is_ir_requested
                 = std::find_if( requests.begin(),
@@ -553,7 +521,6 @@ namespace librealsense
         catch( ... )
         {
             LOG_ERROR( "Exception caught in l500_depth_sensor::open" );
-            _depth_invalidation_option->set_streaming(false);
             throw;
         }
     }

src/l500/l500-depth.h

@@ -16,7 +16,6 @@
 #include "stream.h"
 #include "l500-private.h"
 #include "error-handling.h"
-#include "frame-validator.h"
 #include "l500-options.h"
 #include "calibrated-sensor.h"
 
@@ -117,16 +116,6 @@ namespace librealsense
             return options;
         }
 
-        virtual const char* get_option_name(rs2_option option) const override
-        {
-            if(option == static_cast<rs2_option>(RS2_OPTION_DEPTH_INVALIDATION_ENABLE))
-            {
-                static const std::string str = make_less_screamy("DEPTH_INVALIDATION_ENABLE");
-                return str.c_str();
-            }
-            return options_container::get_option_name(option);
-        }
-
         static ivcam2::intrinsic_params get_intrinsic_params(const uint32_t width, const uint32_t height, ivcam2::intrinsic_depth intrinsic)
         {
             auto num_of_res = intrinsic.resolution.num_of_resolutions;
@@ -267,7 +256,5 @@ namespace librealsense
         float _depth_units;
         stream_profiles _user_requests;
         stream_profiles _validator_requests;
-        bool _depth_invalidation_enabled;
-        std::shared_ptr<depth_invalidation_option> _depth_invalidation_option;
     };
 }