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Enable runtime exposure update in HDR mode #12908

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merged 4 commits into from
May 12, 2024
Merged

Enable runtime exposure update in HDR mode #12908

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891d196
enable runtime exposure update in HDR mode
noacoohen May 8, 2024
98a443f
edit comments
noacoohen May 8, 2024
f8cacd9
edit ranges
noacoohen May 8, 2024
cbe521b
add unit test
noacoohen May 9, 2024
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17 changes: 16 additions & 1 deletion src/ds/ds-options.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -690,7 +690,22 @@ namespace librealsense
void hdr_conditional_option::set(float value)
{
if (_hdr_cfg->is_config_in_process())
_hdr_option->set(value);
{
if( _hdr_cfg->is_enabled() )
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{
// Changing exposure while HDR is enabled was requested by customers.It is currently disabled by D400
// FW, so we workaround it by disabling HDR,changing exposure and enabling again.Disabling/Enabling
// resets the sequence index so we need to keep and restore it.
auto _current_hdr_sequence_index = _hdr_cfg->get( RS2_OPTION_SEQUENCE_ID );
_hdr_cfg->set( RS2_OPTION_HDR_ENABLED, 0, { 0, 1, 1, 0 } );
_hdr_cfg->set( RS2_OPTION_SEQUENCE_ID, _current_hdr_sequence_index, { 0, 2, 1, 0 } );
_hdr_option->set( value );
_hdr_cfg->set( RS2_OPTION_HDR_ENABLED, 1, { 0, 1, 1, 0 } );
_hdr_cfg->set( RS2_OPTION_SEQUENCE_ID, _current_hdr_sequence_index, { 0, 2, 1, 0 } );
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}
else
_hdr_option->set( value );
}
else
{
if (_hdr_cfg->is_enabled())
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43 changes: 43 additions & 0 deletions unit-tests/live/d400/test-hdr-long.py
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Expand Up @@ -502,5 +502,48 @@ def check_sequence_id(pipe):
pipe.stop()
depth_sensor.set_option(rs.option.hdr_enabled, 0) # disable hdr before next tests

with test.closure("HDR Streaming - enable runtime exposure update in HDR mode"):
device = test.find_first_device_or_exit()
depth_sensor = device.first_depth_sensor()

if test.check(depth_sensor and depth_sensor.supports(rs.option.hdr_enabled)):
exposure_range = depth_sensor.get_option_range(rs.option.exposure)
gain_range = depth_sensor.get_option_range(rs.option.gain)

depth_sensor.set_option(rs.option.hdr_enabled, 1)
test.check(depth_sensor.get_option(rs.option.hdr_enabled) == 1)

cfg = rs.config()
cfg.enable_stream(rs.stream.depth)
cfg.enable_stream(rs.stream.infrared, 1)
pipe = rs.pipeline()
pipe.start(cfg)

#change exposure and gain for seq id 1
depth_sensor.set_option(rs.option.sequence_id, 1) # seq id 1 is expected to be the default value
test.check(depth_sensor.get_option(rs.option.sequence_id) == 1)
exp = depth_sensor.get_option(rs.option.exposure)
test.check(depth_sensor.get_option(rs.option.exposure) == exposure_range.default - 1000) # w/a
depth_sensor.set_option(rs.option.exposure, exposure_range.default - 2000)
test.check(depth_sensor.get_option(rs.option.exposure) == exposure_range.default - 2000)

test.check(depth_sensor.get_option(rs.option.gain) == gain_range.default)
depth_sensor.set_option(rs.option.gain, gain_range.default + 2)
test.check(depth_sensor.get_option(rs.option.gain) == gain_range.default + 2)

# change exposure and gain for seq id 2
depth_sensor.set_option(rs.option.sequence_id, 2)# seq id 2 is expected to be the min value
test.check(depth_sensor.get_option(rs.option.sequence_id) == 2)
exp = depth_sensor.get_option(rs.option.exposure)
test.check(depth_sensor.get_option(rs.option.exposure) == exposure_range.min) # w/a
depth_sensor.set_option(rs.option.exposure, exposure_range.default)
test.check(depth_sensor.get_option(rs.option.exposure) == exposure_range.default)

test.check(depth_sensor.get_option(rs.option.gain) == gain_range.min)
depth_sensor.set_option(rs.option.gain, gain_range.default + 10)
test.check(depth_sensor.get_option(rs.option.gain) == gain_range.default + 10)

pipe.stop()
depth_sensor.set_option(rs.option.hdr_enabled, 0) # disable hdr before next tests
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test.print_results_and_exit()