add emitter frequency option skelton

kirkoman · Oct 2, 2022 · 014ca23 · 014ca23
1 parent 9776a8e
commit 014ca23
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Showing 10 changed files with 43 additions and 4 deletions.
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
@@ -115,6 +115,7 @@ extern "C" {
         RS2_OPTION_RECEIVER_SENSITIVITY, /**< Control receiver sensitivity to incoming light, both projected and ambient (same as APD on L515). */
         RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE, /**< Enable / disable color image auto-exposure*/
         RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, /**< Enable / disable color image auto-gain*/
+        RS2_OPTION_EMITTER_FREQUENCY, /**< Select emitter (laser) frequency, see rs2_emitter_frequency for values */
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 
@@ -204,6 +205,15 @@ extern "C" {
     } rs2_host_perf_mode;
     const char* rs2_host_perf_mode_to_string( rs2_host_perf_mode perf );
 
+    /** \brief values for RS2_EMITTER_FREQUENCY option. */
+    typedef enum rs2_emitter_frequency_mode
+    {
+        RS2_EMITTER_FREQUENCY_57_KHZ = 0,  /**< Emitter frequency shall be 57 [KHZ] */
+        RS2_EMITTER_FREQUENCY_91_KHZ = 1,  /**< Emitter frequency shall be 91 [KHZ] */
+        RS2_EMITTER_FREQUENCY_COUNT        /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
+    } rs2_emitter_frequency_mode;
+    const char* rs2_emitter_frequency_mode_to_string( rs2_emitter_frequency_mode mode );
+
     /**
     * check if an option is read-only
     * \param[in] options  the options container

diff --git a/src/realsense.def b/src/realsense.def
@@ -254,6 +254,7 @@ EXPORTS
     rs2_toggle_advanced_mode
     rs2_load_json
     rs2_serialize_json
+    rs2_emitter_frequency_mode_to_string
 
     rs2_create_record_device
     rs2_create_record_device_ex

diff --git a/src/to-string.cpp b/src/to-string.cpp
@@ -171,6 +171,20 @@ const char * get_string( rs2_host_perf_mode value )
 #undef CASE
 }
 
+const char * get_string( rs2_emitter_frequency_mode mode )
+{
+#define CASE( X ) STRCASE( EMITTER_FREQUENCY, X )
+    switch( mode )
+    {
+    CASE( 57_KHZ )
+    CASE( 91_KHZ )
+    default:
+        assert( ! is_valid( mode ) );
+        return UNKNOWN_VALUE;
+    }
+#undef CASE
+}
+
 const char * get_string( rs2_extension value )
 {
 #define CASE( X ) STRCASE( EXTENSION, X )
@@ -370,8 +384,9 @@ const char * get_string( rs2_option value )
     CASE( TRANSMITTER_FREQUENCY )
     CASE( VERTICAL_BINNING )
     CASE( RECEIVER_SENSITIVITY )
-    CASE(AUTO_EXPOSURE_LIMIT_TOGGLE)
-    CASE(AUTO_GAIN_LIMIT_TOGGLE)
+    CASE( AUTO_EXPOSURE_LIMIT_TOGGLE )
+    CASE( AUTO_GAIN_LIMIT_TOGGLE )
+    CASE( EMITTER_FREQUENCY )
     default:
         assert( ! is_valid( value ) );
         return UNKNOWN_VALUE;
@@ -641,3 +656,4 @@ const char * rs2_cah_trigger_to_string( int mode ) { return "DEPRECATED as of 2.
 const char * rs2_calibration_type_to_string( rs2_calibration_type type ) { return librealsense::get_string( type ); }
 const char * rs2_calibration_status_to_string( rs2_calibration_status status ) { return librealsense::get_string( status ); }
 const char * rs2_host_perf_mode_to_string( rs2_host_perf_mode mode ) { return librealsense::get_string( mode ); }
+const char * rs2_emitter_frequency_mode_to_string( rs2_emitter_frequency_mode mode ) { return librealsense::get_string( mode ); }
diff --git a/src/types.h b/src/types.h
@@ -398,6 +398,7 @@ namespace librealsense
     RS2_ENUM_HELPERS_CUSTOMIZED(rs2_ambient_light, RS2_AMBIENT_LIGHT_NO_AMBIENT, RS2_AMBIENT_LIGHT_LOW_AMBIENT)
     RS2_ENUM_HELPERS_CUSTOMIZED(rs2_digital_gain, RS2_DIGITAL_GAIN_HIGH, RS2_DIGITAL_GAIN_LOW)
     RS2_ENUM_HELPERS(rs2_host_perf_mode, HOST_PERF)
+    RS2_ENUM_HELPERS(rs2_emitter_frequency_mode, EMITTER_FREQUENCY)
 
 
     ////////////////////////////////////////////

diff --git a/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java b/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java
@@ -94,7 +94,9 @@ public enum Option {
     OPTION_VERTICAL_BINNING(89),
     OPTION_RECEIVER_SENSITIVITY(90),
     OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE(91),
-    OPTION_AUTO_GAIN_LIMIT_TOGGLE(92);
+    OPTION_AUTO_GAIN_LIMIT_TOGGLE(92),
+    OPTION_EMITTER_FREQUENCY(93);
+
 
     private final int mValue;
 

diff --git a/wrappers/matlab/option.m b/wrappers/matlab/option.m
@@ -92,6 +92,7 @@
         transmitter_frequency           (88)
         vertical_binning                (89)
         receiver_sensitivity            (90)
-        count                           (91)
+        emitter_frequency               (93)
+        count                           (94)
     end
 end
diff --git a/wrappers/nodejs/index.js b/wrappers/nodejs/index.js
@@ -5016,6 +5016,7 @@ const option = {
   OPTION_ALTERNATE_IR: RS2.RS2_OPTION_ALTERNATE_IR,
   OPTION_NOISE_ESTIMATION: RS2.RS2_OPTION_NOISE_ESTIMATION,
   OPTION_ENABLE_IR_REFLECTIVITY: RS2.RS2_OPTION_ENABLE_IR_REFLECTIVITY,
+  OPTION_EMITTER_FREQUENCY: RS2.RS2_OPTION_EMITTER_FREQUENCY,
   /**
    * Set or get auto exposure limit in microsecond.
    * @type {Integer}

diff --git a/wrappers/nodejs/src/addon.cpp b/wrappers/nodejs/src/addon.cpp
@@ -4856,6 +4856,7 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_OPTION_RECEIVER_SENSITIVITY);
   _FORCE_SET_ENUM(RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE);
   _FORCE_SET_ENUM(RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE);
+  _FORCE_SET_ENUM(RS2_OPTION_EMITTER_FREQUENCY);
   _FORCE_SET_ENUM(RS2_OPTION_COUNT);
 
   // rs2_camera_info
@@ -5047,6 +5048,10 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_HOST_PERF_HIGH)
   _FORCE_SET_ENUM(RS2_HOST_PERF_COUNT)
 
+  // rs2_emitter_frequency
+  _FORCE_SET_ENUM(RS2_EMITTER_FREQUENCY_57_KHZ)
+  _FORCE_SET_ENUM(RS2_EMITTER_FREQUENCY_91_KHZ)
+  _FORCE_SET_ENUM(RS2_EMITTER_FREQUENCY_COUNT)
 
   // rs2_l500_visual_preset
   _FORCE_SET_ENUM(RS2_L500_VISUAL_PRESET_CUSTOM)

diff --git a/wrappers/python/pybackend.cpp b/wrappers/python/pybackend.cpp
@@ -191,6 +191,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("receiver sensitivity", RS2_OPTION_RECEIVER_SENSITIVITY)
         .value("exposure limit toggle", RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE)
         .value("gain limit toggle", RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE)
+        .value("emitter frequency", RS2_OPTION_EMITTER_FREQUENCY)
         .value("count", RS2_OPTION_COUNT);
 
     py::enum_<platform::power_state> power_state(m, "power_state");

diff --git a/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h b/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h
@@ -145,6 +145,7 @@ enum class ERealSenseOptionType : uint8
     TRANSMITTER_FREQUENCY                      , /**< Change transmitter frequency, increasing effective range over sharpness. */
     VERTICAL_BINNING                           , /**< Enables vertical binning which increases the maximal sensed distance. */
     RECEIVER_SENSITIVITY                       , /**< Control the receiver sensitivity to incoming light, both projected and ambient. */
+    EMITTER_FREQUENCY                          , /**< Select emitter (laser) frequency:  0 --> 57[KHZ], 1 --> 97[KHZ] */
 };
 
 UENUM(Blueprintable)